Source Code
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These source-code files are part of a reconstructed copy of LM131 revision 1,
the final release of the Apollo 13 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The source reconstruction began with source code of Luminary 131 previously
transcribed from a digitized copy of that program. A dump of the flight spare
core rope memory module B5, part number 2010802-171, serial number RAY 411,
was obtained. This module is the only module different between Luminary 131
and LM131 revision 1. The dump was disassembled and all changes were incorporated
into these source files. Note that page numbers in the reconstructed code match
those on the Luminary 131 printout, although the changed code would likely have
changed page numbers for a real LM131 revision 1 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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038756,000002: ## Copyright: Public domain.
038757,000003: ## Filename: FINDCDUW_-_GUIDAP_INTERFACE.agc
038758,000004: ## Purpose: A section of LM131 revision 1.
038759,000005: ## It is part of the reconstructed source code for the final
038760,000006: ## release of the flight software for the Lunar Module's (LM)
038761,000007: ## Apollo Guidance Computer (AGC) for Apollo 13. The code has
038762,000008: ## been reconstructed from a listing of Luminary 131 and a dump
038763,000009: ## of a core rope memory module B5, part number 2010802-171,
038764,000010: ## which is the only module different between LM131 revision 1
038765,000011: ## and Luminary 131. The executable generated from this source
038766,000012: ## has been verified against the module dump, so while the names,
038767,000013: ## comments, and ordering may not be exactly correct, the
038768,000014: ## resulting binary is.
038769,000015: ## Reference: pp. 902-920
038770,000016: ## Assembler: yaYUL
038771,000017: ## Contact: Ron Burkey <info@sandroid.org>.
038772,000018: ## Website: www.ibiblio.org/apollo/index.html
038773,000019: ## Mod history: 2022-10-28 MAS Created from Luminary 131.
038774,000020:
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Page 902
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038776,000022: # PROGRAM NAME: FINDCDUW
038777,000023: # MOD NUMBER: 1 68 07 15
038778,000024: # MOD AUTHOR: KLUMPP
038779,000025:
038780,000026: # OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
038781,000027: # 2. TO MAINTAIN CORRECT AND CURRENT THRUST
038782,000028: # DIRECTION DATA IN ALL MODES. THIS IS DONE BY
038783,000029: # FETCHING FOR THE THRUST DIRECTION FILTER THE
038784,000030: # CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
038785,000031: # MODES.
038786,000032: # 3. TO SUBSTITUTE A STOPRATE FOR THE NORMAL
038787,000033: # AUTOPILOT COMMANDS WHENEVER
038788,000034: # 1) NOT IN PNGCS-AUTO, OR
038789,000035: # 2) ENGINE IS OFF.
038790,000036:
038791,000037: # FUNCTIONAL DESCRIPTION:
038792,000038:
038793,000039: # FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS
038794,000040: # AND THE DIGITAL AUTOPILOT. THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR
038795,000041: # AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE
038796,000042: # INCREMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED
038797,000043: # ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR THE ANGLES BY WHICH THE BODY WILL
038798,000044: # LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
038799,000045: # ACCELERATIONS AVAILABLE).
038800,000046:
038801,000047: # FINDCDUW ALINES THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
038802,000048: # FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XOVINHIB SET,
038803,000049: # ALINES THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
038804,000050:
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Page 903
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038806,000052: # SPECIFICATIONS:
038807,000053:
038808,000054: # INITIALIZATION: A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED
038809,000055: # BEFORE EACH GUIDED MANEUVER USING FINDCDUW.
038810,000056:
038811,000057: # CALL: INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND
038812,000058: # VECTOR IN MPAC. INTERPRETIVE CALL TO FINDCDUW -2 WITH
038813,000059: # THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC.
038814,000060:
038815,000061: # RETURNS: NORMAL INTERPRETIVE IN ALL CASES
038816,000062: # 1. NORMALLY ALL AUTOPILOT CMDS ARE ISSUED.
038817,000063: # 2. IF NOT PNGCS AUTO, DO STOPRATE AND RETURN
038818,000064: # WITHOUT ISSUING AUTOPILOT CMDS.
038819,000065: # 3. IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT
038820,000066: # ISSUING AUTOPILOT CMDS.
038821,000067:
038822,000068: # ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
038823,000069: # FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
038824,000070: # BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
038825,000071:
038826,000072: # 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
038827,000073: # UNITIZED USING NORMUNIT. FINDCDUW ISSUES
038828,000074: # STOPRATE AS ONLY INPUT TO AUTOPILOT.
038829,000075:
038830,000076: # INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
038831,000077: # UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
038832,000078: # OGABIAS POSSIBLE BIAS FOR OUTER GIMBAL ANGLE (ZEROED IN INITCDUW), UNITS OF PI.
038833,000079: # XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED.
038834,000080: # CSMDOCKD FLAG DENOTING CSM DOCKED.
038835,000081: # STEERSW FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR.
038836,000082:
038837,000083: # OUTPUTS: DELCDUX,Y,Z
038838,000084: # OMEGAPD,+1,+2
038839,000085: # DELPEROR,+1,+2
038840,000086: # CPHI,+1,+2 FOR NOUN22
038841,000087:
038842,000088: # DEBRIS: FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY
038843,000089: # WRITING INTO THESE LOCATIONS THE SINES AND COSINES
038844,000090: # OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE.
038845,000091:
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Page 904
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038847,000093: # INITIALIZATION FOR FINDCDUW
038848,000094:
038849,000095: 30,3071 BANK 30
038850,000096: 30,2000 SETLOC FCDUW
038851,000097: 30,2000 BANK
038852,000098:
038853,000099: 30,3071 E6,1645 EBANK= ECDUW
038854,000100: 30,3071 COUNT* $$/FCDUW
038855,000101:
038856,000102: 30,3071 77331 INITCDUW SSP VLOAD
038857,000103: 30,3072 03300 OGABIAS
038858,000104: 30,3073 00000 0
038859,000105: 30,3074 06522 UNITX
038860,000106: 30,3075 03267 STORE UNFV/2
038861,000107: 30,3076 03261 STORE UNWC/2
038862,000108: 30,3077 77616 RVQ
038863,000109:
038864,000110: # FINDCDUW PRELIMINARIES
038865,000111:
038866,000112: 30,3100 77775 VLOAD # FINDCDUW -2: ENTRY WHEN UNFC/2 PRE-STORD
038867,000113: 30,3101 03253 UNFC/2 # INPUT VECTORS NEED NOT BE SEMI-UNIT
038868,000114: 30,3102 40200 FINDCDUW BOV SETPD # FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
038869,000115: 30,3103 61102 FINDCDUW # INTERPRETER NOW INITIALIZED
038870,000116: 30,3104 00023 22 # LOCS 0 THRU 21 FOR DIRECTION COSINE MAT
038871,000117: 30,3105 77420 STQ EXIT
038872,000118: 30,3106 03246 QCDUWUSR # SAVE RETURN ADDRESS
038873,000119:
038874,000120: # MORE HAUSKEEPING
038875,000121: 30,3107 33752 CA ECDUWL
038876,000122: 30,3110 56003 XCH EBANK # SET EBANK
038877,000123: 30,3111 55645 TS ECDUWUSR # SAVE USER'S EBANK
038878,000124:
038879,000125: 30,3112 30111 CA DAPBOOLS
038880,000126: 30,3113 74737 MASK CSMDOCKD # CSMDOCKD MUST NOT BE BIT15
038881,000127: 30,3114 10000 CCS A
038882,000128: 30,3115 34753 CA ONE # INDEX IF CSM DOCKED
038883,000129: 30,3116 55647 TS NDXCDUW
038884,000130:
038885,000131: 30,3117 34743 CA XOVINHIB # XOVINHIB MUST NOT BE BIT15
038886,000132: 30,3120 55651 TS FLPAUTNO # SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT
038887,000133:
038888,000134: 30,3121 70111 MASK DAPBOOLS
038889,000135: 30,3122 55650 TS FLAGOODW # FLAGOODW = ANY PNZ NUMBER IF XOV INHIBTD
038890,000136:
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Page 905
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038892,000138: # FETCH BASIC DATA
038893,000139: 30,3123 00004 INHINT # RELINT AT PAUTNO (TC INTPRET)
038894,000140:
038895,000141: 30,3124 30032 CA CDUX # FETCH CDUX,CDUY,CDUZ IN ALL CASES, BUT
038896,000142: 30,3125 54771 TS CDUSPOTX # REPLACE BELOW IF PNGCS AUTO
038897,000143: 30,3126 30033 CA CDUY
038898,000144: 30,3127 54765 TS CDUSPOTY
038899,000145: 30,3130 30034 CA CDUZ
038900,000146: 30,3131 54767 TS CDUSPOTZ
038901,000147:
038902,000148: 30,3132 34742 CA BIT10 # PNGCS CONTROL BIT
038903,000149: 30,3133 00006 EXTEND
038904,000150: 30,3134 02030 RAND CHAN30
038905,000151: 30,3135 10000 CCS A
038906,000152: 30,3136 13153 TCF PAUTNO # NOT PNGCS (BITS INVERTED)
038907,000153:
038908,000154: 30,3137 34736 CA BIT14 # AUTO MODE BIT
038909,000155: 30,3140 00006 EXTEND
038910,000156: 30,3141 02031 RAND CHAN31
038911,000157: 30,3142 10000 CCS A
038912,000158: 30,3143 13153 TCF PAUTNO # NOT AUTO (BITS INVERTED)
038913,000159:
038914,000160: 30,3144 55651 TS FLPAUTNO # RESET FLAG PNGCS AUTO NOT
038915,000161:
038916,000162: 30,3145 31634 CA CDUXD # PNGCS AUTO: FETCH CDUXD,CDUYD,CDUZD
038917,000163: 30,3146 54771 TS CDUSPOTX
038918,000164: 30,3147 31635 CA CDUYD
038919,000165: 30,3150 54765 TS CDUSPOTY
038920,000166: 30,3151 31636 CA CDUZD
038921,000167: 30,3152 54767 TS CDUSPOTZ
038922,000168:
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Page 906
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038924,000170: # FETCH INPUTS
038925,000171: 30,3153 06042 PAUTNO TC INTPRET # ENTERING THRUST CMD STILL IN MPAC
038926,000172: 30,3154 77634 RTB
038927,000173: 30,3155 21727 NORMUNIT
038928,000174: 30,3156 24001 STOVL UNX/2 # SEMI-UNIT THRUST CMD AS INITIAL UNX/2
038929,000175: 30,3157 03261 UNWC/2
038930,000176: 30,3160 47034 RTB RTB
038931,000177: 30,3161 21727 NORMUNIT
038932,000178: 30,3162 47617 QUICTRIG # ALWAYS RQD TO OBTAIN TRIGS OF CDUD'S
038933,000179: 30,3163 24015 STOVL UNZ/2 # SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2
038934,000180: 30,3164 00325 DELV
038935,000181: 30,3165 53404 BOVB UNIT
038936,000182: 30,3166 61741 NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO
038937,000183: 30,3167 45000 BOV CALL
038938,000184: 30,3170 61204 AFTRFLTR # IF UNIT DELV OVERFLOWS, SKIP FILTER
038939,000185: 30,3171 47673 *SMNB* # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
038940,000186:
038941,000187: # THRUST DIRECTION FILTER
038942,000188:
038943,000189: 30,3172 77776 EXIT
038944,000190:
038945,000191: 30,3173 31670 CA UNFVY/2 # FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
038946,000192: 30,3174 22157 LXCH MPAC +3 # RENEWED AFTER RETURN FROM CALLER,
038947,000193: 30,3175 03474 TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE.
038948,000194: 30,3176 55670 TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
038949,000195:
038950,000196: 30,3177 31672 CA UNFVZ/2
038951,000197: 30,3200 22161 LXCH MPAC +5
038952,000198: 30,3201 03474 TC FLTRSUB
038953,000199: 30,3202 55672 TS UNFVZ/2
038954,000200:
038955,000201: 30,3203 06042 TC INTPRET # COMPLETES FILTER
038956,000202:
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Page 907
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038958,000204: # FIND A SUITABLE WINDOW POINTING VECTOR
038959,000205:
038960,000206: 30,3204 46135 AFTRFLTR SLOAD BHIZ # IF XOV NOT INHIBITED, GO FETCH ZNB
038961,000207: 30,3205 03251 FLAGOODW
038962,000208: 30,3206 61212 FETCHZNB
038963,000209: 30,3207 45175 VLOAD CALL
038964,000210: 30,3210 00015 UNZ/2
038965,000211: 30,3211 61514 UNWCTEST
038966,000212:
038967,000213: 30,3212 77775 FETCHZNB VLOAD
038968,000214: 30,3213 02162 ZNBPIP
038969,000215: 30,3214 34015 STCALL UNZ/2
038970,000216: 30,3215 61514 UNWCTEST
038971,000217:
038972,000218: 30,3216 57575 VLOAD VCOMP # Z AND -X CAN'T BOTH PARALLEL UNFC/2
038973,000219: 30,3217 02146 XNBPIP
038974,000220: 30,3220 00015 STORE UNZ/2
038975,000221:
038976,000222: # COMPUTE THE REQUIRED DIRECTION COSINE MATRIX
038977,000223:
038978,000224: 30,3221 47375 DCMCL VLOAD VXV
038979,000225: 30,3222 00015 UNZ/2
038980,000226: 30,3223 00001 UNX/2
038981,000227: 30,3224 41456 UNIT PUSH # UNY/2 FIRST ITERATION
038982,000228: 30,3225 76435 VXV VSL1
038983,000229: 30,3226 00001 UNX/2
038984,000230: 30,3227 00015 STORE UNZ/2 # -UNZ/2 FIRST ITERATION
038985,000231: 30,3230 63361 VXSC PDVL # EXCHANGE -UNFVZ/2 UNZ/2 FOR UNY/2
038986,000232: 30,3231 03273 UNFVZ/2 # MUST BE SMALL
038987,000233: 30,3232 51361 VXSC BVSU # YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2
038988,000234: 30,3233 03271 UNFVY/2 # MUST BE SMALL
038989,000235: 30,3234 53372 VSL1 VAD
038990,000236: 30,3235 00001 UNX/2
038991,000237: 30,3236 77656 UNIT # TOTALLY ELIMINATES THRUST POINTING ERROR
038992,000238: 30,3237 00001 STORE UNX/2 # UNX/2
038993,000239: 30,3240 76435 VXV VSL1
038994,000240: 30,3241 00015 UNZ/2 # -UNZ/2 WAS STORED HERE REMEMBER
038995,000241: 30,3242 00007 STORE UNY/2 # UNY/2
038996,000242: 30,3243 47276 VCOMP VXV
038997,000243: 30,3244 00001 UNX/2
038998,000244: 30,3245 77772 VSL1
038999,000245: 30,3246 00015 STORE UNZ/2 # UNZ/2
039000,000246:
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Page 908
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039002,000248: # COMPUTE THE REQUIRED GIMBAL ANGLES
039003,000249:
039004,000250: 30,3247 77624 CALL
039005,000251: 30,3250 61524 NB2CDUSP # YIELDS THE RQD GIMBAL ANGLES, 2'S, PI
039006,000252: 30,3251 77776 EXIT
039007,000253:
039008,000254: # BIAS OUTER GIMBAL ANGLE
039009,000255:
039010,000256: 30,3252 31677 CA OGABIAS
039011,000257: 30,3253 26154 ADS MPAC
039012,000258:
039013,000259: # LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS
039014,000260:
039015,000261: 30,3254 30156 CA MPAC +2 # LIMIT THE MGA
039016,000262: 30,3255 54001 TS L # CAN'T LXCH: NEED UNLIMITED MGA FOR ALARM
039017,000263: 30,3256 33764 CA CDUZDLIM
039018,000264: 30,3257 03720 TC LIMITSUB # YIELDS LIMITED MGA. 1 BIT ERROR POSSIBLE
039019,000265: 30,3260 56156 XCH MPAC +2 # BECAUSE USING 2'S COMP. WHO CARES?
039020,000266: 30,3261 00006 EXTEND
039021,000267: 30,3262 20156 MSU MPAC +2 # THIS BETTER YIELD ZERO
039022,000268: 30,3263 00006 EXTEND
039023,000269: 30,3264 13266 BZF +2
039024,000270: 30,3265 13747 TCF ALARMMGA
039025,000271:
039026,000272: 30,3266 00004 MGARET INHINT # RELINT AT TC INTPRET AFTER TCQCDUW
039027,000273:
039028,000274: 30,3267 22007 ZL
039029,000275: 30,3270 34752 CA TWO
039030,000276: 30,3271 54142 DELGMBLP TS TEM2
039031,000277:
039032,000278: 30,3272 30001 CA L # TO PREVENT FALSE STARTS ABOUT X, ZERO
039033,000279: 30,3273 00006 EXTEND # FLAGOODW IF DELGMBZ OR Y TOO BIG.
039034,000280: 30,3274 70000 SQUARE
039035,000281: 30,3275 64350 AD HI5 # WITHIN 1 BIT OF -(45 DEG SQUARED)
039036,000282: 30,3276 00006 EXTEND
039037,000283: 30,3277 63302 BZMF +3
039038,000284: 30,3300 34755 CA ZERO
039039,000285: 30,3301 55650 TS FLAGOODW
039040,000286:
039041,000287: 30,3302 50142 INDEX TEM2
039042,000288: 30,3303 30154 CA MPAC
039043,000289: 30,3304 50142 INDEX TEM2
039044,000290: 30,3305 54321 TS CPHI # OUTPUTS TO NOUN22
039045,000291: 30,3306 00006 EXTEND
039046,000292: 30,3307 50142 INDEX TEM2
039047,000293: 30,3310 21634 MSU CDUXD # NO MATTER THAT THESE SLIGHTLY DIFFERENT
039048,000294: 30,3311 40000 COM # FROM WHEN WE INITIALLY FETCHED THEM
039049,000295: 30,3312 50142 INDEX TEM2
039050,000296: 30,3313 55674 TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
039051,000297: 30,3314 54001 TS L # FOR PRECEDING TEST ON NEXT LOOP PASS
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Page 909
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039053,000299: 30,3315 10142 CCS TEM2
039054,000300: 30,3316 13271 TCF DELGMBLP
039055,000301:
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Page 910
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039057,000303: # BRANCHES TO NOATTCNT
039058,000304: 30,3317 11651 CCS FLPAUTNO
039059,000305: 30,3320 13743 TCF NOATTCNT +2 # NOT PNGCS AUTO
039060,000306:
039061,000307: 30,3321 30101 CA FLAGWRD5
039062,000308: 30,3322 74745 MASK ENGONBIT
039063,000309: 30,3323 00006 EXTEND
039064,000310: 30,3324 13743 BZF NOATTCNT +2 # ENGINE NOT ON
039065,000311:
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Page 911
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039067,000313: # LIMIT THE ATTITUDE ANGLE CHANGES
039068,000314:
039069,000315: # THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME.
039070,000316: # THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS
039071,000317: # THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALINEMENT WITH THE MIDDLE GIMBAL
039072,000318: # AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
039073,000319:
039074,000320: # * -DELATTX * * 1 SIN(CDUZD) 0 * * -DELGMBX *
039075,000321: # * * * * * *
039076,000322: # * -DELATTYPRIME * = * 0 COS(CDUZD) 0 * * -DELGMBY *
039077,000323: # * * * * * *
039078,000324: # * -DELATTZPRIME * * 0 0 1 * * -DELGMBZ *
039079,000325:
039080,000326: 30,3325 23676 LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED
039081,000327: 30,3326 51647 INDEX NDXCDUW
039082,000328: 30,3327 33760 CA DAZMAX
039083,000329: 30,3330 03720 TC LIMITSUB
039084,000330: 30,3331 55676 TS -DELGMB +2 # -DELGMBZ
039085,000331:
039086,000332: 30,3332 31675 CA -DELGMB +1
039087,000333: 30,3333 00006 EXTEND
039088,000334: 30,3334 70745 MP COSCDUZ # YIELDS -DELATTYPRIME/2 UNLIMITED
039089,000335: 30,3335 54001 TS L
039090,000336: 30,3336 51647 INDEX NDXCDUW
039091,000337: 30,3337 33762 CA DAY/2MAX
039092,000338: 30,3340 03720 TC LIMITSUB
039093,000339: 30,3341 00006 EXTEND
039094,000340: 30,3342 10745 DV COSCDUZ
039095,000341: 30,3343 57675 XCH -DELGMB +1 # -DELGMBY, FETCHING UNLIMITED VALUE
039096,000342:
039097,000343: 30,3344 00006 EXTEND
039098,000344: 30,3345 70737 MP SINCDUZ
039099,000345: 30,3346 20001 DDOUBL
039100,000346: 30,3347 40000 COM
039101,000347: 30,3350 00006 EXTEND # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG,
039102,000348: 30,3351 21674 MSU -DELGMB # BASED ON UNLIMITED DELGMBY.
039103,000349: 30,3352 54001 TS L # ONE BIT ERROR IF OPERANDS IN MSU
039104,000350: 30,3353 51647 INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES?
039105,000351: 30,3354 33760 CA DAXMAX
039106,000352: 30,3355 03720 TC LIMITSUB
039107,000353: 30,3356 55674 TS -DELGMB # SAVE LIMITED +DELATTX
039108,000354: 30,3357 11650 CCS FLAGOODW
039109,000355: 30,3360 41674 CS -DELGMB # FETCH IT BACK CHGING SIGN IF WINDOW GOOD
039110,000356: 30,3361 55674 TS -DELGMB # OTHERWISE USE ZERO FOR -DELATTX
039111,000357: 30,3362 41675 CS -DELGMB +1
039112,000358: 30,3363 00006 EXTEND
039113,000359: 30,3364 70737 MP SINCDUZ
039114,000360: 30,3365 20001 DDOUBL # YIELDS -CNTRIB TO -DELATTX FROM -DELGMBY
039115,000361: 30,3366 27674 ADS -DELGMB # -DELGMBX. NO OVERFLOW SINCE LIMITED TO
039116,000362: # 20DEG(1+SIN(70DEG)/COS(70DEG)) < 180DEG
039117,000363:
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Page 912
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039119,000365: # COMPUTE COMMANDED ATTITUDE RATES
039120,000366:
039121,000367: # * OMEGAPD * * -2 -4 SINCDUZ +0 * * -DELGMBX *
039122,000368: # * * * * * *
039123,000369: # * OMEGAQD * = * +0 -8 COSCDUZ COSCDUX -4 SINCDUX * * -DELGMBY *
039124,000370: # * * * * * *
039125,000371: # * OMEGARD * * +0 +8 COSCDUZ SINCDUX -4 COSCDUX * * -DELGMBZ *
039126,000372:
039127,000373: # ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
039128,000374: # PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
039129,000375: # AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW).
039130,000376:
039131,000377: 30,3367 41674 CS -DELGMB
039132,000378: 30,3370 55642 TS OMEGAPD
039133,000379: 30,3371 41675 CS -DELGMB +1
039134,000380: 30,3372 00006 EXTEND
039135,000381: 30,3373 70737 MP SINCDUZ
039136,000382: 30,3374 20001 DDOUBL
039137,000383: 30,3375 27642 ADS OMEGAPD
039138,000384: 30,3376 27642 ADS OMEGAPD
039139,000385:
039140,000386: 30,3377 41675 CS -DELGMB +1
039141,000387: 30,3400 00006 EXTEND
039142,000388: 30,3401 70747 MP COSCDUX
039143,000389: 30,3402 20001 DDOUBL
039144,000390: 30,3403 00006 EXTEND
039145,000391: 30,3404 70745 MP COSCDUZ
039146,000392: 30,3405 55643 TS OMEGAQD
039147,000393: 30,3406 41676 CS -DELGMB +2
039148,000394: 30,3407 00006 EXTEND
039149,000395: 30,3410 70741 MP SINCDUX
039150,000396: 30,3411 27643 ADS OMEGAQD
039151,000397: 30,3412 27643 ADS OMEGAQD
039152,000398: 30,3413 27643 ADS OMEGAQD
039153,000399:
039154,000400: 30,3414 31675 CA -DELGMB +1
039155,000401: 30,3415 00006 EXTEND
039156,000402: 30,3416 70741 MP SINCDUX
039157,000403: 30,3417 20001 DDOUBL
039158,000404: 30,3420 00006 EXTEND
039159,000405: 30,3421 70745 MP COSCDUZ
039160,000406: 30,3422 55644 TS OMEGARD
039161,000407: 30,3423 41676 CS -DELGMB +2
039162,000408: 30,3424 00006 EXTEND
039163,000409: 30,3425 70747 MP COSCDUX
039164,000410: 30,3426 27644 ADS OMEGARD
039165,000411: 30,3427 27644 ADS OMEGARD
039166,000412: 30,3430 27644 ADS OMEGARD
039167,000413:
|
|
Page 913
|
039169,000415: # FINAL TRANSFER
039170,000416:
039171,000417: 30,3431 34752 CA TWO
039172,000418: 30,3432 54142 CDUWXFR TS TEM2
039173,000419: 30,3433 50142 INDEX TEM2
039174,000420: 30,3434 31674 CA -DELGMB
039175,000421: 30,3435 00006 EXTEND
039176,000422: 30,3436 73765 MP DT/DELT # RATIO OF DAP INTERVAL TO CDUW INTERVAL
039177,000423: 30,3437 03734 TC ONESTO2S
039178,000424: 30,3440 50142 INDEX TEM2
039179,000425: 30,3441 55637 TS DELCDUX # ANGLE INTERFACE
039180,000426:
039181,000427: 30,3442 50142 INDEX TEM2
039182,000428: 30,3443 11642 CCS OMEGAPD
039183,000429: 30,3444 64753 AD ONE
039184,000430: 30,3445 13447 TCF +2
039185,000431: 30,3446 64753 AD ONE
039186,000432: 30,3447 00006 EXTEND # WE NOW HAVE ABS(OMEGAPD,QD,RD)
039187,000433: 30,3450 50142 INDEX TEM2
039188,000434: 30,3451 71642 MP OMEGAPD
039189,000435: 30,3452 00006 EXTEND
039190,000436: 30,3453 74741 MP BIT11 # 1/16
039191,000437: 30,3454 00006 EXTEND
039192,000438: 30,3455 50142 INDEX TEM2 # 2
039193,000439: 30,3456 11530 DV 1JACC # UNITS PI/4 RAD/SEC
039194,000440: 30,3457 54001 TS L
039195,000441: 30,3460 33762 CA DELERLIM
039196,000442: 30,3461 03720 TC LIMITSUB
039197,000443: 30,3462 50142 INDEX TEM2
039198,000444: 30,3463 55274 TS DELPEROR # LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL
039199,000445: 30,3464 10142 CCS TEM2
039200,000446: 30,3465 13432 TCF CDUWXFR
039201,000447:
039202,000448: # HAUSKEEPING AND RETURN
039203,000449:
039204,000450: 30,3466 31645 TCQCDUW CA ECDUWUSR
039205,000451: 30,3467 54003 TS EBANK # RETURN USER'S EBANK
039206,000452:
039207,000453: 30,3470 06042 TC INTPRET
039208,000454: 30,3471 52001 SETPD GOTO
039209,000455: 30,3472 00001 0
039210,000456: 30,3473 03246 QCDUWUSR # NORMAL AND ABNORMAL RETURN TO USER
039211,000457:
|
|
Page 914
|
039213,000459: # THRUST VECTOR FILTER SUBROUTINE
039214,000460:
039215,000461: 30,3474 00006 FLTRSUB EXTEND
039216,000462: 30,3475 22142 QXCH TEM2
039217,000463: 30,3476 54143 TS TEM3 # SAVE ORIGINAL OFFSET
039218,000464: 30,3477 40000 COM # ONE MCT, NO WDS, CAN BE SAVED IF NEG OF
039219,000465: 30,3500 60001 AD L # ORIG OFFSET ARRIVES IN A, BUT IT'S
039220,000466: 30,3501 00006 EXTEND # NOT WORTH THE INCREASED OBSCURITY.
039221,000467: 30,3502 51647 INDEX NDXCDUW
039222,000468: 30,3503 73753 MP GAINFLTR
039223,000469: 30,3504 54001 TS L # INCR TO OFFSET, UNLIMITED
039224,000470: 30,3505 33755 CA DUNFVLIM # SAME LIMIT FOR Y AND Z
039225,000471: 30,3506 03720 TC LIMITSUB # YIELDS INCR TO OFFSET, LIMITED
039226,000472: 30,3507 60143 AD TEM3 # ORIGINAL OFFSET
039227,000473: 30,3510 54001 TS L # TOTAL OFFSET, UNLIMITED
039228,000474: 30,3511 33756 CA UNFVLIM # SAME LIMIT FOR Y AND Z
039229,000475: 30,3512 03720 TC LIMITSUB # YIELDS TOTAL OFFSET, LIMITED
039230,000476: 30,3513 00142 TC TEM2
039231,000477:
039232,000478: # SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS
039233,000479:
039234,000480: 30,3514 63441 UNWCTEST DOT DSQ
039235,000481: 30,3515 00001 UNX/2
039236,000482: 30,3516 50025 DSU BMN
039237,000483: 30,3517 21760 DOTSWFMX
039238,000484: 30,3520 61221 DCMCL
039239,000485: 30,3521 43531 SSP RVQ # RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE
039240,000486: 30,3522 03251 FLAGOODW # ZEROING WINDOW GOOD FLAG
039241,000487: 30,3523 00000 0
039242,000488:
|
|
Page 915
|
039244,000490: # NB2CDUSP RETURNS THE 2'S COMPLEMENT, PI, SP CDU ANGLES X,Y,Z IN MPAC,+1,+2 GIVEN THE MATRIX WHOSE ROW VECTORS
039245,000491: # ARE THE SEMI-UNIT NAV BASE VECTORS X,Y,Z EXPRESSED IN STABLE MEMBER COORDINATES, LOCATED AT 0 IN THE PUSH LIST.
039246,000492:
039247,000493: # NB2CDUSP USES ARCTRGSP WHICH HAS A MAXIMUM ERROR OF +-4 BITS.
039248,000494:
039249,000495: 30,3524 63545 NB2CDUSP DLOAD DSQ
039250,000496: 30,3525 00003 2
039251,000497: 30,3526 51021 BDSU BPL
039252,000498: 30,3527 06514 DP1/4TH
039253,000499: 30,3530 61533 +3
039254,000500: 30,3531 77745 DLOAD
039255,000501: 30,3532 06524 ZEROVECS # IN CASE SIN WAS SLIGHTLY > 1/2
039256,000502: 30,3533 77566 SQRT EXIT # YIELDS COS(CDUZ) IN UNITS OF 2
039257,000503:
039258,000504: 30,3534 00006 EXTEND
039259,000505: 30,3535 30155 DCA MPAC
039260,000506: 30,3536 20001 DDOUBL
039261,000507: 30,3537 54145 TS TEM5
039262,000508: 30,3540 13543 TCF +3
039263,000509: 30,3541 34733 CA POSMAX # OVERFLOW. FETCH POSMAX, MPAC ALWAYS POS
039264,000510: 30,3542 54145 TS TEM5 # COS(CDUZ) IN TEM5, UNITS 1
039265,000511:
039266,000512: 30,3543 50120 INDEX FIXLOC
039267,000513: 30,3544 30002 CA 2
039268,000514: 30,3545 22154 LXCH MPAC
039269,000515: 30,3546 03613 TC ARCTRGSP
039270,000516: 30,3547 54156 TS MPAC +2 # CDUZ
039271,000517:
039272,000518: 30,3550 34755 CA ZERO
039273,000519: 30,3551 03571 TC DVBYCOSM
039274,000520: 30,3552 34751 CA FOUR
039275,000521: 30,3553 03571 TC DVBYCOSM
039276,000522: 30,3554 40141 CS TEM1
039277,000523: 30,3555 03613 TC ARCTRGSP
039278,000524: 30,3556 54155 TS MPAC +1 # CDUY
039279,000525:
039280,000526: 30,3557 34750 CA BIT4
039281,000527: 30,3560 03571 TC DVBYCOSM
039282,000528: 30,3561 33570 CA 16OCT
039283,000529: 30,3562 03571 TC DVBYCOSM
039284,000530: 30,3563 40141 CS TEM1
039285,000531: 30,3564 03613 TC ARCTRGSP
039286,000532: 30,3565 54154 TS MPAC # CDUX
039287,000533:
039288,000534: 30,3566 06042 TC INTPRET
039289,000535: 30,3567 77616 RVQ
039290,000536:
039291,000537: 30,3570 00016 16OCT OCT 16
039292,000538:
|
|
Page 916
|
039294,000540: # THE ELEMENTS OF THE NAV BASE MATRIX WHICH WE MUST DIVIDE BY COS(MGA)
039295,000541: # ALREADY CONTAIN COS(MGA)/2 AS A FACTOR. THEREFORE THE QUOTIENT SHOULD
039296,000542: # ORDINARILY NEVER EXCEED 1/2 IN MAGNITUDE. BUT IF THE MGA IS NEAR PI/2
039297,000543: # THEN COS(MGA) IS NEAR ZERO, AND THERE MAY BE SOME CHAFF IN THE OTHER
039298,000544: # ELEMENTS OF THE MATRIX WHICH WOULD PRODUCE CHAOS UNDER DIVISION.
039299,000545: # BEFORE DIVIDING WE MAKE SURE COS(MGA) IS AT LEAST ONE BIT LARGER
039300,000546: # THAN THE MAGNITUDE OF THE HIGH ORDER PART OF THE OPERAND.
039301,000547:
039302,000548: # IF ONE OR MORE DIVIDES CANNOT BE PERFORMED, THIS MEANS THAT THE
039303,000549: # REQUIRED MGA IS VERY NEARLY +-PI/2 AND THEREFORE THE OTHER GIMBAL
039304,000550: # ANGLES ARE INDETERMINATE. THE INNER AND OUTER GIMBAL ANGLES RETURNED
039305,000551: # IN THIS CASE WILL BE RANDOM MULTIPLES OF PI/2.
039306,000552:
039307,000553: 30,3571 60120 DVBYCOSM AD FIXLOC
039308,000554: 30,3572 54116 TS ADDRWD # ADRES OF OPERAND
039309,000555:
039310,000556: 30,3573 50116 INDEX ADDRWD # FETCH NEG ABS OF OPERAND, AD TEM5, AND
039311,000557: 30,3574 30000 CA 0 # SKIP DIVIDE IF RESULT NEG OR ZERO
039312,000558: 30,3575 00006 EXTEND
039313,000559: 30,3576 63600 BZMF +2
039314,000560: 30,3577 40000 COM
039315,000561: 30,3600 60145 AD TEM5 # C(A) ZERO OR NEG, C(TEM5) ZERO OR POS
039316,000562: 30,3601 00006 EXTEND
039317,000563: 30,3602 63610 BZMF TSL&TCQ # DIFFERENCE ALWAYS SMALL IF BRANCH
039318,000564:
039319,000565: 30,3603 00006 EXTEND # TEM5 EXCEEDS ABS HIGH ORDER PART OF
039320,000566: 30,3604 50116 INDEX ADDRWD # OPERAND BY AT LEAST ONE BIT.
039321,000567: 30,3605 30001 DCA 0 # THEREFORE IT EXCEEDS THE DP OPERAND
039322,000568: 30,3606 00006 EXTEND # AND DIVISION WILL ALWAYS SUCCEED.
039323,000569: 30,3607 10145 DV TEM5
039324,000570: 30,3610 54001 TSL&TCQ TS L
039325,000571: 30,3611 22141 LXCH TEM1
039326,000572: 30,3612 00002 TC Q
039327,000573:
|
|
Page 917
|
039329,000575: # ARCTRGSP RETURNS THE 2'S COMPLEMENT, PI, SP ANGLE IN THE A REGISTER GIVEN ITS SINE IN A AND ITS COSINE IN L IN
039330,000576: # UNITS OF 2. THE RESULT IS AN UNAMBIGUOUS ANGLE ANYWHERE IN THE CIRCLE, WITH A MAXIMUM ERROR OF +-4 BITS.
039331,000577: # THE ERROR IS PRODUCED BY THE SUBROUTINE SPARCSIN WHICH IS USED ONLY IN THE REGION +-45 DEGREES.
039332,000578:
039333,000579: 30,3613 00006 ARCTRGSP EXTEND
039334,000580: 30,3614 13656 BZF SINZERO # TO AVOID DIVIDING BY ZERO
039335,000581:
039336,000582: 30,3615 00006 EXTEND
039337,000583: 30,3616 22144 QXCH TEM4
039338,000584: 30,3617 54142 TS TEM2
039339,000585: 30,3620 30001 CA L
039340,000586: 30,3621 54143 TS TEM3
039341,000587: 30,3622 34755 CA ZERO
039342,000588: 30,3623 00006 EXTEND
039343,000589: 30,3624 10142 DV TEM2
039344,000590: 30,3625 00006 EXTEND
039345,000591: 30,3626 13645 BZF USECOS
039346,000592:
039347,000593: 30,3627 10143 CCS TEM3 # SIN IS SMALLER OR EQUAL
039348,000594: 30,3630 34755 CA ZERO
039349,000595: 30,3631 13635 TCF +4
039350,000596: 30,3632 40142 CS TEM2 # IF COS NEG, REVERSE SIGN OF SIN,
039351,000597: 30,3633 54142 TS TEM2 # ANGLE = PI-ARCSIN(SIN)
039352,000598: 30,3634 34735 CA NEGMAX # PICK UP PI, 2'S COMPLEMENT
039353,000599: 30,3635 54143 TS TEM3 # WE NO LONGER NEED COS
039354,000600: 30,3636 30142 CA TEM2
039355,000601: 30,3637 03663 TC SPARCSIN -1
039356,000602: 30,3640 03734 TC ONESTO2S
039357,000603: 30,3641 00006 EXTEND
039358,000604: 30,3642 20143 MSU TEM3
039359,000605: 30,3643 03734 1TO2&TCQ TC ONESTO2S
039360,000606: 30,3644 00144 TC TEM4
039361,000607:
039362,000608: 30,3645 40143 USECOS CS TEM3 # COS IS SMALLER
039363,000609: 30,3646 03663 TC SPARCSIN -1 # ANGLE = SIGN(SIN)(PI/2-ARCSIN(COS))
039364,000610: 30,3647 64736 AD HALF
039365,000611: 30,3650 54143 TS TEM3 # WE NO LONGER NEED COS
039366,000612: 30,3651 10142 CCS TEM2
039367,000613: 30,3652 30143 CA TEM3
039368,000614: 30,3653 13643 TCF 1TO2&TCQ
039369,000615: 30,3654 40143 CS TEM3
039370,000616: 30,3655 13643 TCF 1TO2&TCQ
039371,000617:
039372,000618: 30,3656 10001 SINZERO CCS L
039373,000619: 30,3657 34755 CA ZERO
039374,000620: 30,3660 00002 TC Q
039375,000621: 30,3661 34735 CA NEGMAX # PI, 2'S COMP
039376,000622: 30,3662 00002 TC Q
039377,000623:
|
|
Page 918
|
039379,000625: # SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED
039380,000626: # 180 DEGREES IN A. IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+-70
039381,000627: # DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF
039382,000628: # 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO. (BOB CRISP)
039383,000629:
039384,000630: 30,3663 60000 DOUBLE
039385,000631: 30,3664 54021 SPARCSIN TS SR
039386,000632: 30,3665 13671 TCF +4
039387,000633: 30,3666 50000 INDEX A
039388,000634: 30,3667 44734 CS LIMITS
039389,000635: 30,3670 54021 TS SR
039390,000636: 30,3671 00006 EXTEND
039391,000637: 30,3672 70000 MP A
039392,000638: 30,3673 54141 TS TEM1
039393,000639: 30,3674 00006 EXTEND
039394,000640: 30,3675 73717 MP DPL9
039395,000641: 30,3676 63716 AD DPL7
039396,000642: 30,3677 00006 EXTEND
039397,000643: 30,3700 70141 MP TEM1
039398,000644: 30,3701 63715 AD DPL5
039399,000645: 30,3702 00006 EXTEND
039400,000646: 30,3703 70141 MP TEM1
039401,000647: 30,3704 63714 AD DPL3
039402,000648: 30,3705 00006 EXTEND
039403,000649: 30,3706 70141 MP TEM1
039404,000650: 30,3707 63713 AD DPL1
039405,000651: 30,3710 00006 EXTEND
039406,000652: 30,3711 70021 MP SR
039407,000653: 30,3712 00002 TC Q
039408,000654: 30,3713 24406 DPL1 DEC 10502 B-14
039409,000655: 30,3714 00660 DPL3 DEC 432 B-14
039410,000656: 30,3715 16204 DPL5 DEC 7300 B-14
039411,000657: 30,3716 50744 DPL7 DEC -11803 B-14
039412,000658: 30,3717 20315 DPL9 DEC 8397 B-14
039413,000659:
|
|
Page 919
|
039415,000661: # LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE
039416,000662: # ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A.
039417,000663: # THE SIGNED LIMITED VARIABLE IS RETURNED IN A.
039418,000664:
039419,000665: # VERSION COURTESY HUGH BLAIR-SMITH
039420,000666:
039421,000667: 30,3720 54141 LIMITSUB TS TEM1
039422,000668: 30,3721 34755 CA ZERO
039423,000669: 30,3722 00006 EXTEND
039424,000670: 30,3723 10141 DV TEM1
039425,000671: 30,3724 10000 CCS A
039426,000672: 30,3725 22141 LXCH TEM1
039427,000673: 30,3726 13730 TCF +2
039428,000674: 30,3727 13732 TCF +3
039429,000675: 30,3730 30001 CA L
039430,000676: 30,3731 00002 TC Q
039431,000677: 30,3732 40141 CS TEM1
039432,000678: 30,3733 00002 TC Q
039433,000679:
039434,000680: # SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP
039435,000681:
039436,000682: 30,3734 10000 ONESTO2S CCS A
039437,000683: 30,3735 64753 AD ONE
039438,000684: 30,3736 00002 TC Q
039439,000685: 30,3737 40000 CS A
039440,000686: 30,3740 00002 TC Q
039441,000687:
039442,000688: # NO ATTITUDE CONTROL
039443,000689:
039444,000690: 30,3741 05567 NOATTCNT TC ALARM
039445,000691: 30,3742 00402 OCT 00402 # NO ATTITUDE CONTROL
039446,000692:
039447,000693: 30,3743 00004 +2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM
039448,000694: 30,3744 04674 TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW
039449,000695: 30,3745 40166 FCADR STOPRATE
039450,000696: 30,3746 13466 TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS
039451,000697:
039452,000698: # MIDDLE GIMBAL ANGLE ALARM
039453,000699:
039454,000700: 30,3747 05567 ALARMMGA TC ALARM
039455,000701: 30,3750 00401 OCT 00401
039456,000702: 30,3751 13266 TCF MGARET
039457,000703:
|
|
Page 920
|
039459,000705: # ************************************************************************
039460,000706: # CONSTANTS
039461,000707: # ************************************************************************
039462,000708:
039463,000709: # ADDRESS CONSTANTS
039464,000710:
039465,000711: 30,3752 03245 ECDUWL ECADR ECDUW
039466,000712:
039467,000713: # THRUST DIRECTION FILTER CONSTANTS
039468,000714:
039469,000715: 30,3753 06315 GAINFLTR DEC .2 # GAIN FILTER SANS CSM
039470,000716: 30,3754 03146 DEC .1 # GAIN FILTER WITH CSM
039471,000717:
039472,000718: 30,3755 00071 DUNFVLIM DEC .007 B-1 # 7 MR MAX CHG IN F DIR IN VEH IN 2 SECS.
039473,000719: # THIS DOES NOT ALLOW FOR S/C ROT RATE.
039474,000720:
039475,000721: 30,3756 02041 UNFVLIM DEC .129 B-1 # 129 MR MAX THRUST OFFSET. 105 MR TRAVEL
039476,000722: # +10MR DEFL+5MR MECH MOUNT+9MR ABLATION.
039477,000723:
039478,000724: # CONSTANTS RELATED TO GIMBAL ANGLE COMPUTATIONS
039479,000725:
039480,000726: 30,3757 01673 DOTSWFMX DEC .93302 B-4 # LIM COLNRTY OF UNWC/2 & UNFC/2 TO 85 DEG
039481,000727: # LOWER PART COMES FROM NEXT CONSTANT
039482,000728:
039483,000729: 30,3760 03434 DAXMAX DEC .11111111111 # DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI
039484,000730: 30,3761 00266 DEC .0111111111 # 2 DEG WHEN CSM DOCKED
039485,000731:
039486,000732: 30,3762 01616 DAY/2MAX DEC .05555555555 # LIKEWISE FOR DELATTY
039487,000733: 30,3763 00133 DEC .0055555555
039488,000734:
039489,000735: 30,3764 30,3760 DAZMAX = DAXMAX # LIKEWISE FOR DELATTZ
039490,000736:
039491,000737: 30,3764 14344 CDUZDLIM DEC .3888888888 # 70 DEG LIMIT FOR MGA, 1'S, PI
039492,000738:
039493,000739: # CONSTANTS FOR DATA TRANSFER
039494,000740:
039495,000741: 30,3765 01463 DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT
039496,000742: # CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
039497,000743:
039498,000744: 30,3766 30,3762 DELERLIM = DAY/2MAX # 10 DEG LIMIT FOR LAG ANGLES, 1'S, PI
039499,000745:
End of include-file FINDCDUW_-_GUIDAP_INTERFACE.agc. Parent file is MAIN.agc